cob_3d_mapping Namespace Reference

Classes
class	Cylinder
	Class representing Cylinder shapes. More...
struct	merge_config
	Struct with merge configuration. More...
class	Polygon
	Class representing Polygon shapes. More...
class	Shape
	Class, representing Shape objects. More...
class	ShapeCluster
	Class representing ShapeCluster shapes. More...
Typedefs
typedef boost::shared_ptr< Shape >	ShapePtr
Functions
void	copyGpcStructure (const gpc_polygon *source, gpc_polygon *dest)
	Copy GPC structure.
bool	fromROSMsg (const cob_3d_mapping_msgs::Shape &s, Cylinder &c)
bool	fromROSMsg (const cob_3d_mapping_msgs::Shape &s, Polygon &p)
	writing to a ros message to convert a feature map
void	getCoordinateSystemOnPlane (const Eigen::Vector3f &normal, Eigen::Vector3f &u, Eigen::Vector3f &v)
	Get axes of coordinate system on plane.
void	getPointOnPolygon (const Eigen::Vector3f &normal, double d, Eigen::Vector3f &point)
	Get point on polygon.
void	smoothGpcStructure (const gpc_polygon *gpc_in, gpc_polygon *gpc_out)
	Smooth contours of GPC structure.
void	toROSMsg (const Cylinder &c, cob_3d_mapping_msgs::Shape &s)
void	toROSMsg (const Polygon &p, cob_3d_mapping_msgs::Shape &s)
	writing to a ros message to convert a feature map

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Typedef Documentation

typedef boost::shared_ptr<Shape> cob_3d_mapping::ShapePtr

Boosted shared pointer to shape.

Definition at line 119 of file shape.h.

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Function Documentation

void cob_3d_mapping::copyGpcStructure	(	const gpc_polygon *	source,
		gpc_polygon *	dest
	)

Copy GPC structure.

Definition at line 137 of file polygon.cpp.

bool cob_3d_mapping::fromROSMsg	(	const cob_3d_mapping_msgs::Shape &	s,
		Cylinder &	c
	)			[inline]

Definition at line 253 of file ros_msg_conversions.h.

bool cob_3d_mapping::fromROSMsg	(	const cob_3d_mapping_msgs::Shape &	s,
		Polygon &	p
	)			[inline]

writing to a ros message to convert a feature map

writing to a ros message to convert a feature map

Parameters:

	p	ros message containing polygons
	p	input as feature map

Returns:

nothing

Definition at line 134 of file ros_msg_conversions.h.

void cob_3d_mapping::getCoordinateSystemOnPlane	(	const Eigen::Vector3f &	normal,
		Eigen::Vector3f &	u,
		Eigen::Vector3f &	v
	)

Get axes of coordinate system on plane.

Calculation of axes cartesian coordinate system using one given axis.

Parameters:

	normal	Axis coordinate system is oriented to.
	v	Axis orthogonal to normal
	u	Axis completing the Gaussian three-leg

Definition at line 125 of file polygon.cpp.

void cob_3d_mapping::getPointOnPolygon	(	const Eigen::Vector3f &	normal,
		double	d,
		Eigen::Vector3f &	point
	)

Get point on polygon.

Point on polygon is calculated with distance d in normal direction.

Parameters:

	normal	Normal of the polygon
	d	Parameter from plane equation ax+by+cz=d

Definition at line 94 of file polygon.cpp.

void cob_3d_mapping::smoothGpcStructure	(	const gpc_polygon *	gpc_in,
		gpc_polygon *	gpc_out
	)

Smooth contours of GPC structure.

Outline of GPC structure is smoothed using a path smoothing algorithm.

Parameters:

	gpc_in	Input GPC structure
	gpc_out	Output GPC structure

Definition at line 164 of file polygon.cpp.

void cob_3d_mapping::toROSMsg	(	const Cylinder &	c,
		cob_3d_mapping_msgs::Shape &	s
	)			[inline]

Definition at line 182 of file ros_msg_conversions.h.

void cob_3d_mapping::toROSMsg	(	const Polygon &	p,
		cob_3d_mapping_msgs::Shape &	s
	)			[inline]

writing to a ros message to convert a feature map

writing to a ros message to convert a feature map

Parameters:

	p	ros message containing polygons
	p	input as feature map

Returns:

nothing

Definition at line 81 of file ros_msg_conversions.h.